Add more examples

.gitignore

@@ -50,3 +50,5 @@ CMakeCache.txt
 /examples/display/build
 *.log
 /examples/rpc_call/build
+/examples/bandwidth/build
+/examples/servo/build

examples/bandwidth/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.15)
+
+project(BandwidthExample)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(libcontrol REQUIRED)
+find_package(spdlog REQUIRED)
+find_package(librpc REQUIRED)
+
+add_executable(BandwidthExample main.cpp)
+
+target_link_libraries(BandwidthExample
+    PRIVATE
+        libcontrol::libcontrol
+        spdlog::spdlog
+        librpc::librpc
+)

examples/bandwidth/CMakeUserPresets.json

@@ -0,0 +1,9 @@
+{
+    "version": 4,
+    "vendor": {
+        "conan": {}
+    },
+    "include": [
+        "build/CMakePresets.json"
+    ]
+}

examples/bandwidth/README.md

@@ -0,0 +1,10 @@
+# Servo Example
+
+## Compiling
+```
+conan install . --build=missing --output-folder=build -s build_type=Release
+cmake -S . -B "build" -DCMAKE_TOOLCHAIN_FILE="build/conan_toolchain.cmake" -DCMAKE_BUILD_TYPE="Release"
+cmake --build "./build" --config "Release"
+
+./build/BandwidthExample
+```

examples/bandwidth/build.sh

@@ -0,0 +1,4 @@
+conan install . --build=missing --output-folder=build -s build_type=Release
+cmake -S . -B "build" -DCMAKE_TOOLCHAIN_FILE="build/conan_toolchain.cmake" -DCMAKE_BUILD_TYPE="Release"
+cmake --build "./build" --config "Release"
+

examples/bandwidth/conanfile.txt

@@ -0,0 +1,9 @@
+[requires]
+libcontrol/1.0.0
+flatbuffers/24.12.23
+spdlog/1.16.0
+librpc/1.1.7
+
+[generators]
+CMakeDeps
+CMakeToolchain

examples/bandwidth/main.cpp

@@ -0,0 +1,31 @@
+#include <chrono>
+#include <format>
+#include <iostream>
+#include <random>
+#include <thread>
+
+#include "libcontrol.h"
+
+#define TARGET_MODULE 150
+#define METADATA_TAG 7
+
+int main() {
+
+    const auto messaging_interface = std::make_unique<MessagingInterface>();
+
+    const auto modules = messaging_interface->find_connected_modules(std::chrono::seconds(3));
+
+    if (!modules.contains(TARGET_MODULE)) {
+        std::cout << "Could not find target module " << TARGET_MODULE << std::endl;
+        return -1;
+    }
+
+    std::vector<uint8_t> vec(1024, 'A');
+
+    while (true) {
+        messaging_interface->send(vec.data(), vec.size(), TARGET_MODULE, METADATA_TAG, false);
+    }
+
+
+    return 0;
+}

examples/rpc_call/include/rpc/RemoteManagement.h

@@ -1,3 +1,4 @@
+
 //
 // Created by Johnathon Slightham on 2026-02-16.
 //
@@ -21,6 +22,7 @@ class RemoteManagement {
           m_robot_controller(controller) {
     }
     bool perform_ota();
+    double ota_progress(); // 0 to 1 representing % progress.
     void restart();
 
   private:
@@ -29,6 +31,7 @@ class RemoteManagement {
     bool ota_end();
 
     uint16_t m_sequence_num = 0;
+    uint16_t m_total_packets = 0;
     uint8_t m_module_id;
     std::ifstream m_file;
     std::unique_ptr<Flatbuffers::OTAPacketBuilder> m_builder;

examples/rpc_call/main.cpp

@@ -9,40 +9,51 @@
 #include "libcontrol.h"
 #include "rpc/RemoteManagement.h"
 
+void progress_monitor_task(std::shared_ptr<RemoteManagement> rm, uint8_t module_id) {
+    while (true) {
+        std::this_thread::sleep_for(std::chrono::seconds(5));
+        std::cout << "Module " << (int)module_id << ": " << rm->ota_progress() * 100 << "% complete\n";
+        if (rm->ota_progress() >= 1.0) return;
+    }
+}
+
+void task(std::shared_ptr<RobotController> controller, uint8_t module_id, const std::string& filepath) {
+    auto rm = std::make_shared<RemoteManagement>(module_id, filepath, controller);
+    std::thread t(progress_monitor_task, rm, module_id);
+    rm->perform_ota();
+    t.join();
+    std::cout << "Done updating " << (int)module_id << "\n";
+}
+
 int main() {
-
-    // const auto messaging_interface = std::make_unique<MessagingInterface>();
-
-    // const auto modules = messaging_interface->find_connected_modules(std::chrono::seconds(3));
-
-    // std::cout << "Found " << modules.size() << " modules" << std::endl;
-
-    // for (const auto module : modules) {
-    //     std::cout << "Found ID " << (int)module << std::endl;
-    // }
-
     const auto robot_controller = std::make_shared<RobotController>();
     robot_controller->fetchDirectlyConnectedModules(true);
     std::this_thread::sleep_for(std::chrono::seconds(5));
 
-    // const auto function_tag = 3;
-    // const auto module = 99;
-    // std::string msg = "Hello world!";
-    // std::vector<uint8_t> parameters(msg.begin(), msg.end());
-    // auto maybe_return_value = messaging_interface->remote_call(function_tag, module, parameters);
+    std::vector<uint8_t> to_update{};
+    for (const auto& maybe_module : robot_controller->getModules()) {
+        if (const auto &module = maybe_module.lock()) {
+            if (module->get_leader() != module->get_device_id()) { continue; }
+            std::cout << "Updating module " << (int)module->get_device_id();
+            to_update.emplace_back(module->get_device_id());
+        }
+    }
 
-    // if (maybe_return_value) {
-    //     auto return_value = std::move(*maybe_return_value);
-    //     std::cout << "Got return value " << (char *)return_value->data() << std::endl;
-    // } else {
-    //     std::cout << "Function call time out" << std::endl;
-    // }
-    //
+    if (to_update.size() < 1) {
+        std::cout << "No modules found to update" << std::endl;
+        return 0;
+    }
 
     std::string filename =
-        "/Users/jslightham/Documents/Classes/capstone/firmware/build/firmware.bin";
-    const auto rm = std::make_unique<RemoteManagement>(99, filename, robot_controller);
-    rm->perform_ota();
+            "/Users/jslightham/Documents/Classes/capstone/firmware/build/firmware.bin";
+    std::vector<std::thread> threads;
+    for (int i = 0; i < to_update.size(); i++) {
+        threads.emplace_back(task, robot_controller, to_update[i], filename);
+    }
+
+    for (auto &t : threads) {
+        t.join();
+    }
 
     return 0;
 }

examples/rpc_call/rpc/RemoteManagement.cpp

@@ -23,6 +23,7 @@ bool RemoteManagement::perform_ota() {
     m_file.seekg(0, std::ios::end);
     std::streamsize total_size = m_file.tellg();
     m_file.seekg(0, std::ios::beg);
+    m_total_packets = total_size/OTA_CHUNK_SIZE;
     // std::cout << "Total number of chunks: " << total_size/OTA_CHUNK_SIZE << std::endl;
 
     while (m_file) {
@@ -96,3 +97,14 @@ bool RemoteManagement::ota_end() {
     }
     return false;
 }
+
+double RemoteManagement::ota_progress() {
+    if (m_total_packets < 1) {
+        return 0.0;
+    }
+    if (m_sequence_num >= m_total_packets) {
+        return 1.0;
+    }
+
+    return static_cast<double>(m_sequence_num) / static_cast<double>(m_total_packets);
+}

examples/servo/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.15)
+
+project(ServoExample)
+
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(libcontrol REQUIRED)
+find_package(spdlog REQUIRED)
+find_package(librpc REQUIRED)
+
+add_executable(ServoExample main.cpp)
+
+target_link_libraries(ServoExample
+    PRIVATE
+        libcontrol::libcontrol
+        spdlog::spdlog
+        librpc::librpc
+)

examples/servo/CMakeUserPresets.json

@@ -0,0 +1,9 @@
+{
+    "version": 4,
+    "vendor": {
+        "conan": {}
+    },
+    "include": [
+        "build/CMakePresets.json"
+    ]
+}

examples/servo/README.md

@@ -0,0 +1,10 @@
+# Servo Example
+
+## Compiling
+```
+conan install . --build=missing --output-folder=build -s build_type=Release
+cmake -S . -B "build" -DCMAKE_TOOLCHAIN_FILE="build/conan_toolchain.cmake" -DCMAKE_BUILD_TYPE="Release"
+cmake --build "./build" --config "Release"
+
+./build/ServoExample
+```

examples/servo/build.sh

@@ -0,0 +1,4 @@
+conan install . --build=missing --output-folder=build -s build_type=Release
+cmake -S . -B "build" -DCMAKE_TOOLCHAIN_FILE="build/conan_toolchain.cmake" -DCMAKE_BUILD_TYPE="Release"
+cmake --build "./build" --config "Release"
+

examples/servo/conanfile.txt

@@ -0,0 +1,9 @@
+[requires]
+libcontrol/1.0.0
+flatbuffers/24.12.23
+spdlog/1.16.0
+librpc/1.1.7
+
+[generators]
+CMakeDeps
+CMakeToolchain

examples/servo/main.cpp

@@ -0,0 +1,41 @@
+#include <chrono>
+#include <format>
+#include <iostream>
+#include <random>
+#include <thread>
+
+#include "libcontrol.h"
+
+int main() {
+
+    const auto controller = std::make_unique<RobotController>();
+
+    controller->fetchDirectlyConnectedModules(true);
+
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+
+    std::cout << "Found " << controller->getModules().size() << " modules" << std::endl;
+
+    std::random_device rd;
+    std::mt19937 gen(rd());
+    std::uniform_int_distribution<> dist(0, 10);
+
+    while (true) {
+        std::cout << "Found " << controller->getModules().size() << " modules" << std::endl;
+        for (const auto &maybe_module : controller->getModules()) {
+            if (const auto &module = maybe_module.lock()) {
+                if (module->get_type() == ModuleType_DC_MOTOR) {
+                    int randomNumber = dist(gen);
+                    if (module->get_position() > 90) {
+                        module->actuate(70 - randomNumber);
+                    } else {
+                        module->actuate(110 + randomNumber);
+                    }
+                }
+            }
+        }
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    }
+
+    return 0;
+}